Quasi-inverse pendulum model of 12 DoF bipedal walking

QR Code

Quasi-inverse pendulum model of 12 DoF bipedal walking

This paper presents modeling of a 12-degree of freedom (DoF) bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling of center of mass (CoM) trajectory and swing foot ankle trajectory based on stance foo...

Full description

Bibliographic Details
Main Authors:	Akhtaruzzaman, Md., Shafie, Amir Akramin, Khan, Md. Raisuddin
Format:	Article
Language:	English English
Published:	Chinese Academy of Sciences 2017
Subjects:	TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery
Online Access:	http://irep.iium.edu.my/63049/ http://irep.iium.edu.my/63049/1/63049_Quasi-inverse%20pendulum%20model_article.pdf http://irep.iium.edu.my/63049/2/63049_Quasi-inverse%20pendulum%20model_scopus.pdf

Similar Items

Electro-goniometric system: an instrumentation to capture knee movements for forward walking
by: Akhtaruzzaman, Md., et al.
Published: (2015)

Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis
by: Akhtaruzzaman , Md., et al.
Published: (2010)

Emotion graph models for bipedal walk cycle animation
by: Abdul Rahman, Ayub, et al.
Published: (2016)

Inverted decoupling 2DoF internal model control for mimo processes
by: Sutikno, Juwari P., et al.
Published: (2019)

Joint demeanors of an anthropomorphic robot in designing the novel walking gait
by: ., Md. Akhtaruzzaman, et al.
Published: (2011)

Automated threshold detection for object segmentation in colour image
by: Akhtaruzzaman, Md., et al.
Published: (2016)

Representation of human gait trajectory through temporospatial image modelling.
by: Akhtaruzzaman, Md., et al.
Published: (2016)

Intelligent trajectory conversion and inverse dynamic control of a 3-DOF neuro-rehabilitation platform
by: Sado, Fatai, et al.
Published: (2015)

Modeling and analysis on bipedal wheel-legged robot with sprawling mechanism
by: Sabilah, Abdul Halim
Published: (2022)

A review on lower appendicular musculoskeletal system of human body
by: Akhtaruzzaman, M., et al.
Published: (2016)

Quasi oppositional—Manta ray foraging optimization and its application to pid control of a pendulum system
by: Ahmad Azwan, Abdul Razak, et al.
Published: (2022)

Bipedal humanoid robot
by: Zayer, Iman Ahmed, et al.
Published: (2018)

Experimental development of stiffness-variable foot sole mechanism for bipedal robots
by: Ahmad Najmuddin, Ibrahim
Published: (2013)

A novel gait for toddler biped and its control using PIC 16F877A
by: Akhtaruzzaman, Md., et al.
Published: (2011)

Evolution, design, and future trajectories on bipedal wheel-legged robot: A comprehensive review
by: Zulkifli, Mansor, et al.
Published: (2023)

Toward a dynamic analysis of bipedal robots inspired by human leg muscles
by: Fernini, B., et al.
Published: (2018)

Widget based automated rigging of bipedal character with custom manipulators
by: Shah, Asadullah, et al.
Published: (2012)

Visual tracking for human face
by: Shafie, Amir Akramin, et al.
Published: (2011)

Designing an algorithm for bioloid humanoid navigating in its indoor environment
by: Akhtaruzzaman, Md., et al.
Published: (2012)

Control of a 2 D.O.F direct drive robot arm using integral sliding mode control
by: KSM Kader Ibrahim, Babul Salam
Published: (2004)

A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm
by: Kader Ibrahim, Babul Salam, et al.
Published: (2005)

Design and stiffness analysis of a class of 2-DoF tendon driven parallel kinematics mechanism
by: Ma, Nan, et al.
Published: (2018)

Design and stiffness analysis of A class of 2-DoF tendon driven parallel kinematic mechanism
by: Ma, Nan, et al.
Published: (2018)

Gait analysis: systems, technologies, and importance
by: Akhtaruzzaman, Md, et al.
Published: (2016)

Modeling and controller design for an inverted pendulum system
by: Nasir, Ahmad Nor Kasruddin
Published: (2007)

Socially interactive humanoid head
by: Shafie, Amir Akramin, et al.
Published: (2010)

Automatic inverted pendulum control system
by: Mohd Syazwi Helmi, Jashari
Published: (2013)

Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation
by: Muhammad Aizzat, Zakaria, et al.
Published: (2017)

Modeling And Control Of 2-DOF Underwater Planar Manipulator.
by: Mat Suboh, Surina, et al.
Published: (2008)

Designing human robot interaction for emotionally expressive robotic head AMIR-iii
by: Iqbal, A., et al.
Published: (2011)

Mechanical Evaluation Of Femur Geometry And Hip Protectors Using Pendulum-Based System
by: Iqbal, Ahmad Amir Shafiq Ahmad
Published: (2019)

Predicting the metabolic energy costs of bipedalism using evolutionary robotics
by: Sellers, William Irvin, et al.
Published: (2003)

Multiple-surface sliding mode control for 3DOF helicopter
by: Hamood, Mostafa A., et al.
Published: (2011)

Self-erecting inverted pendulum employing PSO for stabilizing and tracking controller
by: Solihin, Mahmud Iwan, et al.
Published: (2009)

Adaptive control of nonlinear system based on QFT application to 3-DOF flight control system
by: Boby, Rounakul Islam, et al.
Published: (2019)

Tolerance towards sensor failures: an application to a double inverted pendulum
by: Ng, Kok Yew, et al.
Published: (2006)

Autonomous unicycle robot using reaction wheel pendulum: integration and results
by: Teepol, Atika Adrina, et al.
Published: (2011)

Techniques for Sway Control of a Double-Pendulum-Type Overhead Crane
by: Mohd Ashraf, Ahmad, et al.
Published: (2010)

Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot
by: Nawawi, S.W, et al.
Published: (2006)

Real time control for two-wheels inverted pendulum mobile robot
by: Nawawi, S. W., et al.
Published: (2008)